JP2017109708A - Vehicle travel support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To identify a travel state which may cause feeling change of an occupant, then control the identified travel state based on feeling information in the identified travel state, for performing travel support corresponding to an occupant.SOLUTION: A vehicle drive support device 10 of the invention comprises: a travel information detection part 11 for detecting travel information of a vehicle 1; a travel state identification part 12 for identifying a travel state based on the travel information detected by the travel information detection part; a feeling recognition part 14 for acquiring basic information of an occupant in a travel state which is identified by the travel state identification part, for recognizing a feeling of the occupant; and a control part 30 for controlling a travel state to become a travel state according to a recognition result on the feeling recognition part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle travel support device.

  There has been proposed a vehicle driving assistance device that recognizes a driver's emotion and controls a device operated by the driver based on the recognized emotion (for example, Patent Document 1).

JP 2006-69358 A

In Patent Document 1, the driver's emotion is recognized, and the characteristics of the device operated by the driver are controlled based on the recognized emotion. However, when the driver's emotion changes, That is, it does not control the characteristics of the equipment that causes the change of emotion by identifying the cause of the emotion change in what kind of running state it is.
The present invention enables driving support corresponding to an occupant's emotion by controlling the identified traveling state according to emotion information in a specific traveling state that may cause a change in the occupant's emotion.

  A driving support apparatus for a vehicle according to the present invention includes a driving information detection unit that detects driving information of a vehicle, a driving state specification unit that specifies a driving state based on driving information detected by the driving information detection unit, and a driving state specification. An emotion recognition unit for recognizing an occupant's emotion in the running state specified by the unit and a control unit for controlling the running state according to the recognition result in the emotion recognition unit are provided.

  According to the present invention, since the control is performed to the traveling state when the emotion is recognized according to the recognition result of the passenger's emotion in the traveling state that can be a factor of the passenger's emotion change specified by the traveling state specifying unit, It is possible to provide driving support corresponding to.

The block diagram which shows the function structure of the vehicle driving assistance device which concerns on the 1st Embodiment of this invention. The figure which shows an example of the setting content in a memory | storage part. An example of the setting content of a running state and an intensity level is shown. The flowchart which shows the control content of 1st Embodiment. The block diagram which shows the function structure of the vehicle driving assistance device which concerns on the 2nd Embodiment of this invention. The flowchart which shows the control content of 2nd Embodiment. The block diagram which shows the function structure of the vehicle driving assistance device which concerns on the 3rd Embodiment of this invention. The flowchart which shows the control content of 3rd Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the embodiments, the same members and members having the same functions are denoted by the same reference numerals, and redundant description is omitted.
A vehicle driving support device 1 according to the present embodiment is mounted on a vehicle 1. The vehicle 1 on which the vehicle driving support device 1 is mounted includes any one that uses an internal combustion engine as a travel drive source, one that uses a motor as a travel drive source, and includes an internal combustion engine and a motor, at least one of which serves as a travel drive source. There may be. As the vehicle 1, the driver operates and operates an actuator that controls a device for controlling the traveling state by operating an operation unit that changes the traveling state such as a steering, an accelerator pedal, and a brake pedal. Alternatively, it may be capable of automatic driving in which each actuator such as steering operation, acceleration / deceleration of vehicle speed, and brake operation is autonomously driven by the control unit appropriately controlled according to the vehicle travel information.

As shown in FIG. 1, the vehicle driving support device 1 includes a travel information detection unit 11 that detects travel information of the vehicle 1 and a travel state specification that identifies a travel state based on the travel information detected by the travel information detection unit 11. Unit 12, a running state, a storage unit 13 in which an intensity level for changing the running state is set in advance, an emotion recognition unit 14 for recognizing an occupant's emotion in the running state specified by the running state specifying unit, A control unit 30 is provided.
The control unit 30 includes a computer including a CPU 31, a RAM 32, and a ROM 33, and the travel information detection unit 11, the travel state specifying unit 12, the storage unit 13, and the emotion recognition unit 14 are connected via signal lines. . The control unit 30 controls the running state when the emotion is recognized according to (based on) the recognition result in the emotion recognition unit 14. When controlling the driving state by the control unit 30, the driving state specifying unit 12 specifies the driving state corresponding to the driving state detected by the driving information detecting unit 11 from the driving state set in the storage unit 13. And the control part 30 controls the driving | running | working state at the time of emotion recognition according to the recognition result in the emotion recognition part 14. FIG.

  With such a configuration, it is possible to control the traveling state when the emotion is recognized according to the recognition result of the passenger's emotion in the traveling state that can be a factor of the passenger's emotion change specified by the traveling state specifying unit 12. Therefore, it is possible to provide driving support corresponding to the passenger's feelings.

Next, the vehicle driving support device 1 will be described in detail.
The traveling information of the vehicle 1 is, for example, vehicle speed information V, acceleration information K, deceleration information G, and turning information P. The vehicle speed information V is information acquired from a vehicle speed detection sensor 111 that detects vehicle speed information from, for example, the rotational speed of the wheels of the vehicle 1. The acceleration information K is information acquired from the acceleration detection sensor 112 that detects acceleration information of the vehicle 1. The deceleration information G is information acquired from the deceleration detection sensor 113 that detects deceleration information of the vehicle 1. The deceleration information G may be information obtained by detecting information on the amount of depression of the brake pedal and information on the depression speed with a sensor. Or the hydraulic pressure information of the brake line of the hydraulic brake device mounted in the vehicle 1 may be detected by a hydraulic sensor. The turning information P1 is information acquired from a turning information detection sensor 114 that detects information about the amount of rotation and the angular velocity of the steering, which is an operation unit and a steering unit of the vehicle 1. That is, in the present embodiment, examples of the travel information detection unit 11 include a vehicle speed detection sensor 111, an acceleration detection sensor 112, a deceleration detection sensor 113, and a turning information detection sensor 114, which are mounted on the vehicle 1.

  The traveling state specifying unit 12 includes a storage unit 13 in which a traveling state estimated from detection information from the vehicle speed detection sensor 111, the acceleration detection sensor 112, the deceleration detection sensor 113, and the turning information detection sensor 114, which are the traveling information detection unit 11. In this case, it is determined whether or not the traveling state set in (1) is satisfied, and if the traveling state is satisfied, the corresponding traveling state is specified. Here, it is determined by determining whether the vehicle 1 is in an acceleration state, a deceleration state, a turning state, or a high-speed traveling state. The running state is also called a running scene.

The storage unit 13 is configured by a storage device (database) in which a data table is stored, for example. As shown in FIG. 2, the storage unit 13 stores acceleration information K, deceleration information G, turning information P, vehicle speed information V, and a vehicle running state (running scene) for emotion recognition in association with each other. The strength level that changes each running state is stored. The traveling state includes an acceleration state associated with the acceleration information K, a deceleration state associated with the deceleration information G, a turning state associated with the turning information P, and a high speed state associated with the vehicle speed information V. These traveling states are merely examples, and other traveling states may be used. In this case, a detection unit that detects information for specifying the travel state may be the travel information detection unit 11.
In the present embodiment, each strength level for adjusting each traveling state can be set in five stages from level 1 to level 5 respectively. Of course, the strength level may be set differently for each traveling state, and the strength level is not limited to five. The intensity level is set so as to weaken (decrease) the running state as it goes from level 5 to level 1. In other words, the strength level is set so as to increase (increase) the running state as it goes from level 1 to level 5. The intensity level is also a control value that controls an actuator that controls each state of the speed, acceleration, deceleration, and turning of the vehicle 1.

FIG. 3 is a diagram showing the setting contents of the running state and the strength level.
When the running state is the acceleration state, the strength level is level 1, which is a control value for adjusting the throttle valve opening so that the accelerator opening can be gradually accelerated (weak), and the strength level is level 5. Is a control value that adjusts the opening of the throttle valve so as to achieve an accelerator opening that allows fast acceleration (strong).
When the running state is a deceleration state, the strength level is level 1 is a control value that generates a brake hydraulic pressure that can be gently braked (weak), and the strength level is level 5 that is a brake hydraulic pressure that can be strongly braked. Control value to be generated.
When the traveling state is the turning state, the strength level is level 1, which is a control value for adjusting the hydraulic pressure for controlling the steering angle of the power steering so that the steering operation can be performed gently, and the strength level is level 5. Is a control value that adjusts the hydraulic pressure that controls the steering angle of the power steering so that the steer operation can be performed quickly.
When the driving state is a high-speed driving state, the intensity level is level 1 is a control value for adjusting the opening of the throttle valve in the direction of slowing down the vehicle speed (slowly). 5 is a control value for adjusting the opening of the throttle valve in the direction of increasing the vehicle speed (fast).

The emotion recognition unit 14 may be, for example, a well-known emotion recognition device that recognizes the occupant's emotion from changes in the occupant's facial expression. It may be a known emotion recognition device using recognized voice.
The emotion recognition unit 14 includes a camera and a microphone as an acquisition unit 141 that detects and acquires at least basic information about the passenger such as the facial expression and voice of the passenger, and also inputs an expression taken with the camera and a microphone. An emotion recognition engine 142 is provided for recognizing emotions from the basic information such as voice. As the emotion recognition engine 142, for example, facial expression image data and voice data for a specific emotion are stored in advance for each emotion, and the facial expression image data and voice data that are input basic information are stored. This is a method for recognizing emotions by comparing each data, and is already known. In the present embodiment, the emotion recognition unit 14 recognizes surprise and fear as the passenger's emotions. The emotion recognition unit 14 has a function of transmitting an emotion recognition signal S to the control unit 30 when recognizing surprise or fear.

  The control unit 30 adjusts the intensity level set in the storage unit 13 in accordance with the emotion recognized by the emotion recognition unit 14. That is, the intensity level in the running state when the emotion is recognized is adjusted to be updated or maintained according to the emotion. Specifically, when the occupant's emotion changes in the specified driving state of the vehicle 1, that is, the control unit 30 recognizes the occupant's surprise or fear in the emotion recognition unit 14, and the emotion recognition signal S is generated. When output, the intensity level for controlling the operation of the actuator related to the traveling scene from which the emotion recognition signal S is output is increased or decreased.

(First embodiment)
One form of control by the vehicle driving assistance device 1 will be described based on the flowchart shown in FIG.
In this embodiment, an occupant will be described as a driver of the vehicle 1. In addition, as the emotion recognition unit 14, an emotion recognition device based on a driver's facial expression is used. For this reason, the emotion recognition unit 14 includes a camera serving as the acquisition unit 141 and is installed at a position where the entire face of the driver who is sitting in the driver's seat and is driving (looking at the front) can be photographed. Shall. It is assumed that the vehicle 1 has already started traveling.
In step ST1, the vehicle driving support device 1 detects the travel information of the vehicle 1 by the travel information detection unit 11, and proceeds to step ST2. In step ST2, the travel state specifying unit 12 refers to the travel information detected by the travel information detection unit 11 and the travel state in the storage unit 13, and in step ST3, the travel state corresponding to the detected travel information is detected. It is determined whether or not the traveling state is set in the storage unit 13. That is, it is determined whether or not the current traveling state is a traveling state for emotion recognition, and the process proceeds to step ST4. In step ST4, the emotion recognition of the driver is performed by the emotion recognition unit 14, and in step ST5, the intensity level of the running state (running scene) in which the emotion is recognized is controlled according to the emotion recognition result.

  For example, when the detected driving state is the acceleration state, the acceleration state is set in the storage unit 13 in association with the intensity level, and thus is a driving state for emotion recognition. Assume that the set intensity level is level 3. When the driver's emotion recognized by the emotion recognition unit 14 indicates surprise or fear, the emotion recognition signal S is output from the emotion recognition unit 14. As a result, the control unit 30 considers that the driver's emotional change is caused by the current driving state (acceleration state), and the intensity level reaches level 2 where the acceleration state is more gradual than the current state. To finish this control.

Such control is performed when the vehicle 1 is traveling and in a specific traveling state, the emotion recognition unit 14 recognizes the driver's emotion. For this reason, when the intensity level is changed (updated) to level 2 and adjusted, and when the running state indicates the acceleration state after entering the next control cycle, the acceleration state is slower than the previous acceleration state. Yes. Here, the emotion recognition unit 14 recognizes the driver's emotion again to recognize the passenger's emotion. And although it is a driving | running state (driving scene) which recognizes emotion, when the driver | operator's emotion recognized by the emotion recognition part 14 does not show surprise and fear, the emotion recognition signal S is not output from the emotion recognition part 14. FIG. For this reason, the control unit 30 considers that the current traveling state is an appropriate traveling state (acceleration state) in which the driver does not feel surprise or fear, and ends this control without changing the intensity level.
In this way, the driving state when the emotion is recognized is controlled according to the recognition result of the driver's emotion in the driving state that can be a factor of emotion change, thus enabling driving support corresponding to the driver's emotion. Can also contribute to preventive safety.

  In the present embodiment, although the driving state recognizes the emotion but the driver's emotion recognized by the emotion recognition unit 14 does not indicate surprise or fear, the intensity level is not changed (updated) (not adjusted). Therefore, it is preferable that such a state continues because stable operation can be performed. However, in some cases, it can be a monotonous and unchanging operation. For this reason, when the number of times that does not indicate surprise or fear is continuously detected as the driver's emotion recognized by the emotion recognition unit 14 during the emotion recognition driving state, It may be changed (updated) (adjusted) in the direction of increasing the intensity level. In this case, by preventing driving in a monotonous driving state, it can be expected to lead to suppression of drowsiness and the like, which can contribute to preventive safety. In addition, since the intensity level is changed (updated) and adjusted according to changes in emotions, driving assistance that matches the driver's emotions can be provided as the driver is used, leading to improved drivability.

(Second Embodiment)
In the present embodiment, when there are a plurality of passengers in the vehicle 1, for example, it is assumed that there are passengers in the driver and the passenger seat, and the emotions of both the driver and the passenger in the specified driving state are expressed. Recognize and try to change the intensity level in accordance with the emotion that has been recognized. For this reason, as shown in FIG. 5, the vehicle driving support apparatus 1A according to the present embodiment provides an acquisition unit 141 on the driver seat side and the passenger seat side in order to recognize the facial expressions of the driver and the passenger seat passenger. Each camera has multiple cameras. In the present embodiment, the occupant recognized by the emotion recognition unit 14 is the driver of the vehicle 1 and the passenger.

One form of control by the vehicle driving assistance device 1A will be described based on the flowchart shown in FIG.
It is assumed that the vehicle 1 has already started traveling. The description of steps having the same contents as those in the first embodiment will be simplified or omitted.
In step ST21, the vehicle driving support device 1A detects the travel information of the vehicle 1 by the travel information detection unit 11, and in steps ST22 and ST23, the travel state identification unit 12 recognizes the current travel state as an emotion. Is specified, and the process proceeds to step ST24.
In step ST24, emotions are recognized from the facial expressions of the driver and passenger seated by both cameras, and in step ST25, the intensity level in the running state in which emotions are recognized is controlled according to the emotion recognition results. .

  For example, if the detected traveling state is a deceleration state, the deceleration state is set in the storage unit 13 in association with the intensity level, and thus is a traveling state for emotion recognition, and is set in the storage unit 13 at this time. It is assumed that the intensity level being applied is level 3. Then, when an emotion indicating surprise or fear is recognized from either one of the driver and the passenger on the passenger seat recognized by the emotion recognition unit 14, the emotion recognition signal S is output from the emotion recognition unit 14. . Thereby, the control unit 30 considers that the driver's or passenger's emotional change is caused by the current driving state (deceleration state), and goes to level 2 where the deceleration state is slower than the present. And change the intensity level and finish this control. That is, in the present embodiment, the control unit 30 adjusts the intensity level in the running state when the emotion is recognized according to the recognition result having the largest emotion change among the emotion results recognized by the emotion recognition unit 14. Control to do.

  Such control is performed when the vehicle 1 is traveling and in a specific traveling state, the emotion recognition unit 14 recognizes the driver's emotion. For this reason, when the intensity level is changed (updated) to level 2 and adjusted, and when the running state indicates the deceleration state after entering the next control cycle, the deceleration state is more gradual than the previous deceleration state. Yes. Here, the emotion recognition unit 14 recognizes the driver's emotion again to recognize the passenger's emotion. If the emotion of the driver or passenger on the passenger seat recognized by the emotion recognition unit 14 does not indicate surprise or fear, the emotion recognition signal S is not output from the emotion recognition unit 14 although the emotion recognition driving state is in the running state. . For this reason, the control unit 30 regards the current traveling state as an appropriate traveling state (deceleration state) in which the driver does not feel surprise or fear, and ends this control without changing the intensity level.

In this way, in driving conditions that can cause emotional changes, not only the driver but also the passenger's emotion recognition results are taken into account, and the driving state in which the passenger feels surprise and fear is controlled. In addition, driving assistance corresponding to the passenger's passenger's feelings can be made possible, which can contribute to preventive safety.
When the vehicle 1 is traveling by the driver's operation, the driver performs a brake operation, an accelerator operation, and a steering operation at his / her own judgment. Prediction is so difficult to be surprised or scared. On the other hand, passengers, especially passengers in the passenger seat, are difficult to predict when the driver will operate the brake or accelerator, and the driving state (behavior change) of the vehicle 1 occurs unexpectedly. It is thought that the feeling of fear is easy to come out. Even if an expectation is made, it is thought that it is easy to have surprises and fears from the visual information if it is different from the operation timing and the degree of operation imagined by me. In such a case, the driving state is controlled in a direction that makes the driving state calmer with respect to the passengers who are surprised or feared among the passengers of the vehicle 1, so that driving assistance in consideration of the passengers is made possible. Can do.

  Furthermore, when the vehicle 1 is operated by automatic driving, not only the passenger but also the driver is likely to be surprised and frightened if the operation timing and the operating level at the time of automatic driving differ from the case where the driver operates himself / herself. it is conceivable that. Therefore, the control in such a direction that the running state becomes calm with respect to the person who gives fear feeling among the passengers of the vehicle 1 provides driving assistance in consideration of the driver and passengers even during the automatic driving. Can be possible.

(Third embodiment)
In the above embodiment, the occupant of the vehicle 1 is roughly divided into a driver and a passenger, and each emotion is recognized by the emotion recognition unit 14. In this case, if only the same occupant gets on the vehicle 1 and drives, emotional learning proceeds and driving assistance that matches the occupant's emotions becomes possible. However, when another occupant gets on the vehicle 1, the intensity level in the running state according to the emotion of the other occupant is not set. For this reason, every time the occupant is replaced, driving assistance corresponding to the emotions of the different occupants is provided, so that it takes time until the driving assistance matches the occupant's emotions.

Therefore, in the vehicle driving support device 1B according to the present embodiment, as shown in FIG. 7, the occupant setting in which the occupant whose emotion is recognized by the emotion recognition unit 14 is set in the storage unit 13 in association with the running state and the strength level. And an occupant selection unit 17 that selects an occupant set by the occupant setting unit 16.
Then, the traveling state specifying unit 12 specifies the traveling state and the strength level corresponding to the traveling state detected by the traveling information detecting unit 11 from the traveling state and the strength level of the occupant selected by the occupant selecting unit 17, and performs control. The unit 30 controls to adjust the strength level in the running state of the occupant who has recognized the emotion according to the recognition result in the emotion recognition unit 14 for the occupant selected by the occupant selection unit 17.

In the present embodiment, it is assumed that three passengers can register information. For this reason, the occupant setting unit 16 includes a plurality of switches 16A, 16B, and 16C. The number of switches is not limited to three, but may be one as long as it can be switched by operating one switch.
The switches 16A, 16B, and 16C are connected to the control unit 30 via signal lines, and when a registration operation is performed, a data table in which an occupant is registered is set in the storage unit 13. Similar to the first embodiment, the data table stores a running state (running scene) of the vehicle for emotion recognition and an intensity level for changing each running state.

The occupant selection unit 17 is a switch for reading out an individual data table registered in the storage unit 13, and is configured of switches 17A, 17B, and 17C here. The number of switches is not limited to three, but may be one as long as it can be switched by operating one switch. The switches 17A, 17B, and 17C are connected to the control unit 30 via signal lines. When each switch is operated, a database of passengers broken for each switch is selected. Yes.
In the present embodiment, the occupant data table registered by the switch 16A is selected and changed (updated) by operating the switch 17A and can be adjusted. The occupant data table registered with the switch 16B is selected and changed (updated) by adjusting the switch 17B, and can be adjusted. The occupant data table registered with the switch 16C operates the switch 17C. Can be adjusted by changing (updating). The registered occupant is assumed to be a driver.

One form of control by the vehicle driving assistance device 1B will be described based on the flowchart shown in FIG.
The description of steps having the same contents as in the first embodiment will be simplified or omitted. It is assumed that the occupant registration has already been completed by the registration operation of the switches 16A to 16C. Further, it is assumed that the vehicle 1 has already started traveling.
In step ST31, the vehicle driving support apparatus 1B identifies a registered occupant. Here, when a switch operation is performed on any of the switches 17A to 17C, an occupant data table corresponding to the switch operated is selected.
In step ST32, the vehicle driving support device 1B detects the travel information of the vehicle 1 by the travel information detection unit 11, and in steps ST33 and ST34, whether or not the current travel state is a travel state in which emotion is recognized. The driving state specifying unit 12 specifies the driving information from the driving information and the driving state stored in the selected personal data table, and the process proceeds to step ST35.
In step ST35, an emotion is recognized from the driver's facial expression as a registrant photographed by the camera. In step ST36, the emotion-recognized running scene stored on the registrant's data table is determined according to the emotion recognition result. Control (change / update) intensity level at.

  As described above, in the present embodiment, the intensity level is adjusted corresponding to the emotion that changes according to the traveling state for each registered occupant, so that the registered occupant gets on the vehicle 1 and himself / herself By operating any of the registered switches 17A to 17C, it is possible to receive driving support that matches his / her feelings from the beginning of driving, leading to improved drivability.

As mentioned above, although preferable embodiment of this invention was described, this invention is not limited to the specific embodiment which concerns, This invention as described in the claim unless it limited in particular by the above-mentioned description. Various modifications and changes are possible within the scope of the above.
For example, when there are a plurality of passengers who ride in the vehicle 1, the driver and the passenger on the passenger seat are illustrated, but the emotion recognition result of any one of the passengers can be recognized by recognizing the emotion of the passenger on the rear seat ( The intensity level may be changed and adjusted based on surprise or fear. Also, when different emotion recognitions of different fears and surprises are recognized by multiple passengers in the same driving state, priorities and weights are given to the recognized emotions, and the priorities and weights are high. The intensity level may be controlled (adjusted) based on the emotion.

  The effects described in the embodiments of the present invention are only the most preferable effects resulting from the present invention, and the effects of the present invention are limited to those described in the embodiments of the present invention. is not.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10 ... Vehicle driving assistance device, 11 ... Driving information detection part, 12 ... Driving state specific | specification part, 13 ... Memory | storage part, 14 ... Emotion recognition part, 16. .. occupant setting unit, 17 ... occupant selection unit, 30 ... control unit, 141 ... acquisition unit, G ... travel information (deceleration information), K ... travel information (acceleration information), P: Travel information (turning information), V: Travel information (vehicle speed information)

Claims (5)

A travel information detection unit for detecting travel information of the vehicle;
A driving state specifying unit for specifying a driving state based on the driving information detected by the driving information detection unit;
An emotion recognition unit that acquires basic information of an occupant in the traveling state specified by the traveling state identification unit, and recognizes the emotion of the occupant;
A vehicle driving support device comprising a control unit that controls a running state according to a recognition result in the emotion recognition unit. The driving state and a setting unit in which an intensity level for changing the driving state is set in advance,
The travel state identification unit identifies a travel state corresponding to the travel state detected by the travel information detection unit from the travel state set in the setting unit,
2. The vehicle driving according to claim 1, wherein the control unit performs control so as to adjust an intensity level corresponding to a running state when the emotion is recognized according to a recognition result in the emotion recognition unit. Support device.   The vehicle driving support device according to claim 1, wherein an occupant recognized by the emotion recognition unit is at least a driver of the vehicle. The emotion recognition unit has a plurality of acquisition units for acquiring basic information of the occupant,
The control unit performs control so as to adjust an intensity level in a running state when the emotion is recognized according to an emotion result recognized by the emotion recognition unit based on information from the plurality of acquisition units. The vehicle driving support device according to claim 2, wherein: An occupant whose emotion is recognized by the emotion recognition unit, an occupant setting unit that sets the setting unit in association with the running state and the strength level;
An occupant selection unit for selecting an occupant set in the setting unit;
The traveling state identification unit identifies a traveling state and an intensity level corresponding to the traveling state detected by the traveling information detection unit from a traveling state and an intensity level of the occupant selected by the occupant selection unit,
The control unit controls the occupant selected by the occupant selection unit to adjust the intensity level of the traveling state of the occupant who has recognized the emotion according to the recognition result of the emotion recognition unit. The vehicle driving support device according to claim 2.

Images